A system comprises a computer that includes a processor and a memory. The memory stores instructions executable by the processor to estimate a first joint probability distribution of first data with respect to second data based on first and second marginal probability distributions of the first and second data, wherein the first data is from a first sensor based on a first sensor coordinate system, and the second data is from a second sensor based on a second sensor coordinate system, to estimate a second joint probability distribution of the first data with respect to the second data based on a projection of the first data onto a plane defined in the second sensor coordinate system, to estimate a rigid transformation between the first sensor coordinate system and the second sensor coordinate system by minimizing a distance between the first and second joint probability distributions, wherein the second joint probability distribution is a function of a set of extrinsic calibration parameters, and based on the set of the extrinsic calibration parameters, to detect an object in the first and second data.
本公开提供了“传感器融合”。一种系统包括计算机,计算机包括处理器和存储器。存储器存储指令,指令可由处理器执行以:基于第一数据的第一边际概率分布和第二数据的第二边际概率分布来估计第一数据相对于第二数据的第一联合概率分布,其中第一数据来自基于第一传感器坐标系的第一传感器,并且第二数据来自基于第二传感器坐标系的第二传感器;基于第一数据到第二传感器坐标系中限定的平面上的投射来估计第一数据相对于第二数据的第二联合概率分布;通过使第一联合概率分布与第二联合概率分布之间的距离最小化来估计第一传感器坐标系与第二传感器坐标系之间的刚性变换,其中第二联合概率分布是一组外部校准参数的函数;并且基于该组外部校准参数,检测第一数据和第二数据中的对象。
Sensor fusion
传感器融合
2022-02-22
Patent
Elektronische Ressource
Chinesisch
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